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7 Commits
eeccf8122a
...
09df2bb0a7
Author | SHA1 | Date | |
---|---|---|---|
09df2bb0a7 | |||
affd0568cb | |||
3c6aab0145 | |||
c3ed6e6a9d | |||
9335b69c74 | |||
1d60c61c30 | |||
3e2035cb11 |
@ -502,3 +502,7 @@ fr_FR.UTF-8 UTF-8
|
||||
# to_TO UTF-8
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||||
# tpi_PG UTF-8
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||||
# yuw_PG UTF-8
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||||
# C.UTF-8 UTF-8
|
||||
# ckb_IQ UTF-8
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||||
# rif_MA UTF-8
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||||
# syr UTF-8
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||||
|
@ -1,3 +1,3 @@
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||||
---
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||||
k3s_version: v1.25.3%2Bk3s1
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||||
k3s_version: v1.28.3%2Bk3s2
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||||
k3s_url: https://github.com/k3s-io/k3s/releases/download/{{ k3s_version }}/k3s-{{ arch | default('armhf') }}
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||||
|
@ -1,10 +1,12 @@
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||||
---
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||||
- name: Add apt key
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||||
apt_key:
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||||
ansible.builtin.apt_key:
|
||||
url: https://download.docker.com/linux/debian/gpg
|
||||
keyring: /etc/apt/trusted.gpg.d/docker.gpg
|
||||
|
||||
- name: Add docker-ce repository
|
||||
apt_repository:
|
||||
repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian {{ ansible_distribution_release }} stable
|
||||
repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian bookworm stable
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||||
state: present
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||||
filename: 'docker'
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||||
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||||
|
@ -7,8 +7,9 @@ data:
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||||
############################
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||||
# STEERING PWM - PCA9685 #
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||||
############################
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||||
STEERING_PCA9685_LEFT_PWM: "995"
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||||
STEERING_PCA9685_RIGHT_PWM: "2017"
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||||
#STEERING_PCA9685_LEFT_PWM: "995"
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STEERING_PCA9685_LEFT_PWM: "1265"
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STEERING_PCA9685_RIGHT_PWM: "1650"
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STEERING_PCA9685_CENTER_PWM: "1440"
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||||
|
||||
###########################
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||||
|
@ -108,9 +108,44 @@ spec:
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||||
- "--image-width=$(CAMERA_WIDTH)"
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||||
- "--image-height=$(CAMERA_HEIGHT)"
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||||
- "--objects-threshold=$(THRESHOLD_OBJECTS)"
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- "--camera-fps=$(CAMERA_FPS)"
|
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- "--log=info"
|
||||
- "--camera-tuning-exposition=8300us"
|
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#- "--camera-tuning-exposition=500us"
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||||
|
||||
- "--disable-disparity"
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- "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders
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- "--stereo-mode-extended-disparity" # allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [ 0..190 ]
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- "--stereo-mode-subpixel" # improves the precision and is especially useful for long range measurements
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|
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#- "--stereo-post-processing-median-filter"
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#- "--stereo-post-processing-median-value=KERNEL_7x7" #{MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
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|
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- "--stereo-post-processing-speckle-filter"
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- "--stereo-post-processing-speckle-enable=true"
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- "--stereo-post-processing-speckle-range=200"
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#- "--stereo-post-processing-temporal-filter"
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||||
#- "--stereo-post-processing-temporal-persistency-mode=VALID_2_IN_LAST_4" # {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
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||||
#- "--stereo-post-processing-temporal-alpha=0.4"
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||||
#- "--stereo-post-processing-temporal-delta=0"
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||||
|
||||
- "--stereo-post-processing-spatial-filter"
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- "--stereo-post-processing-spatial-enable=true"
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||||
- "--stereo-post-processing-spatial-hole-filling-radius=4"
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||||
#- "--stereo-post-processing-spatial-alpha=0.5"
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||||
#- "--stereo-post-processing-spatial-delta=0"
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||||
- "--stereo-post-processing-spatial-num-iterations=1"
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||||
|
||||
- "--stereo-post-processing-threshold-filter"
|
||||
- "--stereo-post-processing-threshold-min-range=1450"
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||||
- "--stereo-post-processing-threshold-max-range=15000"
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||||
|
||||
#- "--stereo-post-processing-decimation-filter"
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||||
#- "--stereo-post-processing-decimation-decimal-factor=2" # {1,2,3,4}
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#- "--stereo-post-processing-decimation-mode=PIXEL_SKIPPING" # {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
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||||
securityContext:
|
||||
runAsUser: 1234
|
||||
runAsUser: 0
|
||||
privileged: true
|
||||
volumeMounts:
|
||||
- name: sys
|
||||
@ -144,11 +179,21 @@ spec:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_OBJECTS
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_DISPARITY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_CAMERA_DISPARITY
|
||||
name: robocar
|
||||
- name: THRESHOLD_OBJECTS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OBJECTS_THRESHOLD
|
||||
name: robocar-objects
|
||||
- name: CAMERA_FPS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: CAMERA_FPS
|
||||
name: robocar-camera
|
||||
- name: CAMERA_WIDTH
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
@ -161,6 +206,8 @@ spec:
|
||||
name: robocar-camera
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
#- name: DEPTHAI_LEVEL
|
||||
# value: debug
|
||||
- name: TZ
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||||
value: "Europe/Paris"
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||||
hostNetwork: true
|
||||
@ -199,7 +246,7 @@ spec:
|
||||
args:
|
||||
- "--mqtt-retain=false"
|
||||
- "--throttle-channel=15"
|
||||
- "--steering-channel=14"
|
||||
- "--steering-channel=13"
|
||||
- "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
|
||||
- "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
|
||||
- "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
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||||
|
@ -5,16 +5,16 @@ kind: Kustomization
|
||||
namespace: robocar
|
||||
|
||||
resources:
|
||||
- ../common
|
||||
- ../common-car
|
||||
- deployments.yaml
|
||||
- configmap.yaml
|
||||
|
||||
images:
|
||||
- name: docker.io/cyrilix/robocar-camera
|
||||
newTag: v0.3.0
|
||||
newTag: v0.3.1
|
||||
|
||||
- name: docker.io/cyrilix/robocar-pca9685
|
||||
newTag: v0.6.4
|
||||
|
||||
- name: git.cyrilix.bzh/robocars/robocar-oak-camera
|
||||
newTag: v0.2.0-28-g7ebd909
|
||||
newTag: v0.6.1
|
@ -0,0 +1,335 @@
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: arduino
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: arduino
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: arduino
|
||||
spec:
|
||||
containers:
|
||||
- name: arduino
|
||||
image: docker.io/cyrilix/robocar-arduino
|
||||
args:
|
||||
- "-device=/dev/ttyAMA1"
|
||||
- "-baud=115200"
|
||||
- "-mqtt-retain=false"
|
||||
- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
|
||||
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
|
||||
- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
|
||||
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
|
||||
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
|
||||
- "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
|
||||
- '--throttle-feedback-config=/etc/robocar/thresholds.json'
|
||||
- '--ctrl-throttle-min-pwm=$(CTRL_THROTTLE_MIN_PWM)'
|
||||
- '--ctrl-throttle-max-pwm=$(CTRL_THROTTLE_MAX_PWM)'
|
||||
- "-log=info"
|
||||
volumeMounts:
|
||||
- mountPath: "/dev/ttyAMA0"
|
||||
name: serial
|
||||
- mountPath: "/etc/robocar"
|
||||
name: robocar
|
||||
securityContext:
|
||||
privileged: true
|
||||
runAsUser: 1234
|
||||
runAsGroup: 20 # Set 20/dialout group to access to serial device
|
||||
envFrom:
|
||||
- configMapRef:
|
||||
name: robocar-throttle-pwm
|
||||
- configMapRef:
|
||||
name: robocar-steering-pwm
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-arduino
|
||||
- name: MQTT_TOPIC_THROTTLE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_THROTTLE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_STEERING
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_STEERING
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_DRIVE_MODE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_DRIVE_MODE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_SWITCH_RECORD
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_SWITCH_RECORD
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_THROTTLE_FEEDBACK
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar
|
||||
key: MQTT_TOPIC_THROTTLE_FEEDBACK
|
||||
- name: MQTT_TOPIC_MAX_THROTTLE_CTRL
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar
|
||||
key: MQTT_TOPIC_MAX_THROTTLE_CTRL
|
||||
- name: CTRL_THROTTLE_MIN_PWM
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar-throttle-pwm
|
||||
key: CTRL_THROTTLE_MIN_PWM
|
||||
- name: CTRL_THROTTLE_MAX_PWM
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar-throttle-pwm
|
||||
key: CTRL_THROTTLE_MAX_PWM
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: serial
|
||||
hostPath:
|
||||
path: /dev/ttyAMA0
|
||||
type: CharDevice
|
||||
- name: robocar
|
||||
configMap:
|
||||
name: robocar-objects
|
||||
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: led
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: led
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: led
|
||||
spec:
|
||||
containers:
|
||||
- name: led
|
||||
image: docker.io/cyrilix/robocar-led
|
||||
args:
|
||||
- "-mqtt-retain=false"
|
||||
- "-log=info"
|
||||
volumeMounts:
|
||||
- name: gpiomem
|
||||
mountPath: "/dev/gpiomem"
|
||||
- name: gpiochip0
|
||||
mountPath: "/dev/gpiochip0"
|
||||
- name: gpiochip1
|
||||
mountPath: "/dev/gpiochip1"
|
||||
securityContext:
|
||||
privileged: true
|
||||
runAsUser: 1234
|
||||
runAsGroup: 997 # Set 997/gpio group to access to serial device
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-led
|
||||
- name: MQTT_TOPIC_DRIVE_MODE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_DRIVE_MODE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_RECORD
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_SWITCH_RECORD
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_SPEED_ZONE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_SPEED_ZONE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_THROTTLE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_THROTTLE
|
||||
name: robocar
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: gpiomem
|
||||
hostPath:
|
||||
path: /dev/gpiomem
|
||||
type: CharDevice
|
||||
- name: gpiochip0
|
||||
hostPath:
|
||||
path: /dev/gpiochip0
|
||||
type: CharDevice
|
||||
- name: gpiochip1
|
||||
hostPath:
|
||||
path: /dev/gpiochip1
|
||||
type: CharDevice
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: tflite-steering
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: tflite-steering
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: tflite-steering
|
||||
spec:
|
||||
containers:
|
||||
- name: tflite-steering
|
||||
image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
args:
|
||||
#- "--model=/model/$(MODEL_STEERING)"
|
||||
- "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
|
||||
- "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
|
||||
- "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
|
||||
- "--edge-verbosity=0"
|
||||
- "--log=info"
|
||||
securityContext:
|
||||
runAsUser: 0
|
||||
runAsGroup: 0
|
||||
privileged: true
|
||||
volumeMounts:
|
||||
- name: models
|
||||
mountPath: /model
|
||||
- name: bus-usb
|
||||
mountPath: /dev/bus/usb
|
||||
- name: sys
|
||||
mountPath: /sys
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-tflite-steering
|
||||
- name: MQTT_TOPIC_CAMERA
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_CAMERA_OAK_COLOR
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_STEERING
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_TF_STEERING
|
||||
name: robocar
|
||||
- name: OCI_IMAGE_MODEL_REGISTRY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OCI_IMAGE_MODEL_REGISTRY
|
||||
name: robocar-models
|
||||
- name: OCI_IMAGE_MODEL_REPOSITORY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OCI_IMAGE_MODEL_REPOSITORY
|
||||
name: robocar-models
|
||||
- name: OCI_IMAGE_MODEL_TAG
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OCI_IMAGE_MODEL_TAG
|
||||
name: robocar-models
|
||||
#- name: MODEL_STEERING
|
||||
# valueFrom:
|
||||
# configMapKeyRef:
|
||||
# key: MODEL_STEERING
|
||||
# name: robocar-models
|
||||
#- name: MODEL_IMAGE_WIDTH
|
||||
# valueFrom:
|
||||
# configMapKeyRef:
|
||||
# key: MODEL_IMAGE_WIDTH
|
||||
# name: robocar-models
|
||||
#- name: MODEL_IMAGE_HEIGHT
|
||||
# valueFrom:
|
||||
# configMapKeyRef:
|
||||
# key: MODEL_IMAGE_HEIGHT
|
||||
# name: robocar-models
|
||||
#- name: HORIZON
|
||||
# valueFrom:
|
||||
# configMapKeyRef:
|
||||
# key: HORIZON
|
||||
# name: robocar-models
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: LD_LIBRARY_PATH
|
||||
value: "/usr/local/lib/:/usr/lib"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: models
|
||||
hostPath:
|
||||
path: /home/pi/models/steering
|
||||
type: DirectoryOrCreate
|
||||
- name: bus-usb
|
||||
hostPath:
|
||||
path: /dev/bus/usb
|
||||
- name: sys
|
||||
hostPath:
|
||||
path: /sys
|
@ -0,0 +1,20 @@
|
||||
---
|
||||
apiVersion: kustomize.config.k8s.io/v1beta1
|
||||
kind: Kustomization
|
||||
|
||||
resources:
|
||||
- ../common
|
||||
#- namespace.yaml
|
||||
- deployments.yaml
|
||||
#- services.yaml
|
||||
#- configmap.yaml
|
||||
|
||||
images:
|
||||
- name: docker.io/cyrilix/robocar-arduino
|
||||
newTag: v0.11.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-led
|
||||
newTag: v0.7.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
newTag: v0.6.1
|
@ -0,0 +1,9 @@
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: Secret
|
||||
metadata:
|
||||
name: mqtt-credentials
|
||||
namespace: robocar
|
||||
stringData:
|
||||
MQTT_USERNAME: satanas
|
||||
MQTT_PASSWORD: satanas
|
@ -4,23 +4,25 @@ metadata:
|
||||
name: robocar
|
||||
data:
|
||||
# Broker configuration
|
||||
MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
|
||||
MQTT_BROKER_HOST: "nats-server.nats.svc.cluster.local"
|
||||
#MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
|
||||
MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"
|
||||
|
||||
# Camera
|
||||
MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
|
||||
MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
|
||||
MQTT_TOPIC_CAMERA: "car/satanas/part/camera/color"
|
||||
MQTT_TOPIC_CAMERA_OAK_COLOR: "car/satanas/part/camera/color"
|
||||
MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"
|
||||
|
||||
# Objects detection
|
||||
MQTT_TOPIC_OBJECTS: car/satanas/part/objects
|
||||
MQTT_TOPIC_OBJECTS: "car/satanas/part/objects/raw"
|
||||
MQTT_TOPIC_OBJECTS_CLEAN: "car/satanas/part/objects/clean"
|
||||
|
||||
# Radio command
|
||||
MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
|
||||
MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
|
||||
MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
|
||||
MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
|
||||
|
||||
MQTT_TOPIC_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle
|
||||
|
||||
MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering
|
||||
|
||||
@ -28,6 +30,8 @@ data:
|
||||
MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
|
||||
MQTT_TOPIC_STEERING: car/satanas/part/steering
|
||||
|
||||
MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone
|
||||
|
||||
# Road detection
|
||||
MQTT_TOPIC_ROAD: car/satanas/part/road
|
||||
|
||||
@ -52,16 +56,39 @@ data:
|
||||
# THROTTLE_MIN: "0.10"
|
||||
# THROTTLE_MAX: "0.12"
|
||||
|
||||
## Slow auto-pilot
|
||||
####################
|
||||
#THROTTLE_MIN: "0.10"
|
||||
#THROTTLE_MAX: "0.10"
|
||||
|
||||
## Secure auto-pilot
|
||||
####################
|
||||
THROTTLE_MIN: "0.10"
|
||||
THROTTLE_MAX: "0.12"
|
||||
#THROTTLE_MIN: "0.11"
|
||||
#THROTTLE_MAX: "0.12"
|
||||
|
||||
## bump auto-pilot
|
||||
####################
|
||||
THROTTLE_MIN: "0.11"
|
||||
THROTTLE_MAX: "0.11"
|
||||
|
||||
## bump speed auto-pilot
|
||||
####################
|
||||
#THROTTLE_MIN: "0.12"
|
||||
#THROTTLE_MAX: "0.18"
|
||||
|
||||
## Speed auto-pilot
|
||||
###################
|
||||
#THROTTLE_MIN: "0.11"
|
||||
#THROTTLE_MAX: "0.13"
|
||||
|
||||
## Speed race auto-pilot
|
||||
###################
|
||||
#THROTTLE_MIN: "0.11"
|
||||
#THROTTLE_MAX: "0.15"
|
||||
|
||||
# Throttle acceleration boost
|
||||
#############################
|
||||
THROTTLE_ACCELERATOR_FACTOR: "1.2"
|
||||
|
||||
---
|
||||
apiVersion: v1
|
||||
@ -69,12 +96,13 @@ kind: ConfigMap
|
||||
metadata:
|
||||
name: robocar-steering-pwm
|
||||
data:
|
||||
|
||||
################
|
||||
# STEERING PWM #
|
||||
################
|
||||
STEERING_LEFT_PWM: "1000"
|
||||
STEERING_RIGHT_PWM: "1985"
|
||||
STEERING_CENTER_PWM: "1492"
|
||||
STEERING_LEFT_PWM: "1004"
|
||||
STEERING_RIGHT_PWM: "2048"
|
||||
STEERING_CENTER_PWM: "1514"
|
||||
|
||||
############################
|
||||
# STEERING PWM - SECOND RC #
|
||||
@ -83,18 +111,26 @@ data:
|
||||
STEERING_SECONDARY_RIGHT_PWM: "2141"
|
||||
STEERING_SECONDARY_CENTER_PWM: "1641"
|
||||
|
||||
#################################
|
||||
# OLD RADIO-COMAND STEERING PWM #
|
||||
#################################
|
||||
#STEERING_LEFT_PWM: "1000"
|
||||
#STEERING_RIGHT_PWM: "1985"
|
||||
#STEERING_CENTER_PWM: "1492"
|
||||
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: ConfigMap
|
||||
metadata:
|
||||
name: robocar-throttle-pwm
|
||||
data:
|
||||
|
||||
################
|
||||
# THROTTLE PWM #
|
||||
################
|
||||
THROTTLE_MIN_PWM: "994"
|
||||
THROTTLE_MAX_PWM: "1979"
|
||||
THROTTLE_ZERO_PWM: "1484"
|
||||
THROTTLE_MIN_PWM: "980"
|
||||
THROTTLE_MAX_PWM: "2046"
|
||||
THROTTLE_ZERO_PWM: "1509"
|
||||
|
||||
###########################
|
||||
# THROTTLE PWM - SECOND RC #
|
||||
@ -103,6 +139,18 @@ data:
|
||||
THROTTLE_SECONDARY_MAX_PWM: "1975"
|
||||
THROTTLE_SECONDARY_ZERO_PWM: "1506"
|
||||
|
||||
####################
|
||||
# OLD THROTTLE PWM #
|
||||
####################
|
||||
# THROTTLE_MIN_PWM: "994"
|
||||
# THROTTLE_MAX_PWM: "1979"
|
||||
# THROTTLE_ZERO_PWM: "1484"
|
||||
|
||||
############################
|
||||
# MAX THROTTLE CONTROL PWM #
|
||||
############################
|
||||
CTRL_THROTTLE_MIN_PWM: "1000"
|
||||
CTRL_THROTTLE_MAX_PWM: "2000"
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: ConfigMap
|
||||
@ -118,7 +166,9 @@ data:
|
||||
CAMERA_WIDTH: "160"
|
||||
CAMERA_HEIGHT: "120"
|
||||
|
||||
MQTT_CAMERA_PUB_FREQUENCY: "30"
|
||||
CAMERA_FPS: "35"
|
||||
|
||||
MQTT_CAMERA_PUB_FREQUENCY: "35"
|
||||
|
||||
---
|
||||
apiVersion: v1
|
||||
@ -127,7 +177,36 @@ metadata:
|
||||
name: robocar-models
|
||||
data:
|
||||
# model to use for steering
|
||||
MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
|
||||
#MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
|
||||
MODEL_STEERING: "model_linear_160x120h0_edgetpu.tflite"
|
||||
#OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
|
||||
#OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
|
||||
#OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu"
|
||||
OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000"
|
||||
OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering"
|
||||
|
||||
|
||||
# OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls ou v20230601.2338-edgetpu
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1
|
||||
|
||||
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu"
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu" # rd + vt not exist
|
||||
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu" # clean3
|
||||
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu" # clean10
|
||||
|
||||
OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1 # Model RD good
|
||||
#OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots
|
||||
#OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5
|
||||
|
||||
#OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu" # clean3, light + contrast
|
||||
#OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu" # clean10
|
||||
|
||||
#MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
|
||||
|
||||
@ -162,9 +241,21 @@ data:
|
||||
"data": [
|
||||
[ 0, 0, 0, 0, 0, 0],
|
||||
[ 0, 0, 0, 0, 0, 0],
|
||||
[ 0, 0, 0.25, -0.25, 0, 0],
|
||||
[ 0, 0.25, 0.5, -0.5, -0.25, 0],
|
||||
[ 0.25, 0.5, 1, -1, -0.5, -0.25]
|
||||
[ 0, 0.5, 0.75, -0.75, 0.5, 0],
|
||||
[ 0.5, 0.75, 1, -1, -0.75, 0.5],
|
||||
[ 0.75, 1, 1, -1, -1, -0.75]
|
||||
]
|
||||
}
|
||||
grid2.json: |
|
||||
{
|
||||
"steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
|
||||
"distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
|
||||
"data": [
|
||||
[ 0, 0, 0, 0, 0, 0],
|
||||
[ 0, 0, 0, 0, 0, 0],
|
||||
[ 0, 0, 0.75, -0.75, 0, 0],
|
||||
[ 0, 0.75, 1, -1, -0.75, 0],
|
||||
[ 0.75, 1, 1, -1, -1, -0.75]
|
||||
]
|
||||
}
|
||||
|
||||
@ -202,8 +293,98 @@ kind: ConfigMap
|
||||
metadata:
|
||||
name: throttle
|
||||
data:
|
||||
brake2.json: |
|
||||
{
|
||||
"delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ],
|
||||
"data": [ -0.1, -0.2, -0.3, -0.6, -1.0 ]
|
||||
}
|
||||
brake.json3: |
|
||||
{
|
||||
"delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ],
|
||||
"data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ]
|
||||
}
|
||||
brake.json: |
|
||||
{
|
||||
"delta_steps": [ 0.05, 0.3, 0.5 ],
|
||||
"data": [ -0.1, -0.5, -1.0 ]
|
||||
"delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ],
|
||||
"data": [ -0.26, -0.4, -0.7, -0.8, -1.0 ]
|
||||
}
|
||||
|
||||
# speed_custom
|
||||
speed_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.17, 0.16, 0.15, 0.13]
|
||||
}
|
||||
|
||||
# speed_custom
|
||||
speed_steering_2.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.18, 0.16, 0.15, 0.13]
|
||||
}
|
||||
|
||||
# speed_custom
|
||||
speed_steering_3.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.18, 0.17, 0.16, 0.14]
|
||||
}
|
||||
|
||||
speed_steering_4.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.19, 0.18, 0.16, 0.14]
|
||||
}
|
||||
# good_custom_steering
|
||||
safe_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.14, 0.13, 0.12, 0.11]
|
||||
}
|
||||
|
||||
# little_speeed_custom_steering
|
||||
ls_custom_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.16, 0.15, 0.14, 0.12]
|
||||
}
|
||||
|
||||
very_speed_custom_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.21, 0.17, 0.15, 0.12]
|
||||
}
|
||||
|
||||
bcustom_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.18, 0.15, 0.14, 0.13]
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
slow_custom_steering.json: |
|
||||
{
|
||||
"steering_values": [0.0, 0.20, 0.50, 0.70],
|
||||
"throttle_steps": [0.12, 0.115, 0.112, 0.11]
|
||||
}
|
||||
|
||||
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: ConfigMap
|
||||
metadata:
|
||||
name: robocar-profiles
|
||||
data:
|
||||
#throttle_from_steering: "slow_custom_steering.json"
|
||||
#throttle_from_steering: "safe_steering.json"
|
||||
#throttle_from_steering: "ls_custom_steering.json" # little_speeed_custom_steering
|
||||
#throttle_from_steering: "speed_steering.json"
|
||||
throttle_from_steering: "speed_steering_2.json"
|
||||
#throttle_from_steering: "speed_steering_3.json"
|
||||
#throttle_from_steering: "speed_steering_4.json"
|
||||
#throttle_from_steering: "very_speed_custom_steering.json"
|
||||
|
||||
detection_objects: "false"
|
||||
#detection_objects: "true"
|
||||
|
@ -2,7 +2,7 @@
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: arduino
|
||||
name: objects-detection
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
@ -12,223 +12,33 @@ spec:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: arduino
|
||||
component: objects-detection
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: arduino
|
||||
component: objects-detection
|
||||
spec:
|
||||
containers:
|
||||
- name: arduino
|
||||
image: docker.io/cyrilix/robocar-arduino
|
||||
args:
|
||||
- "-device=/dev/ttyAMA1"
|
||||
- "-baud=115200"
|
||||
- "-mqtt-retain=false"
|
||||
- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
|
||||
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
|
||||
- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
|
||||
- "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
|
||||
- "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
|
||||
- "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
|
||||
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
|
||||
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
|
||||
- "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
|
||||
- "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
|
||||
- "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
|
||||
- "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
|
||||
- '--throttle-feedback-config=/etc/robocar/thresholds.json'
|
||||
- "-log=info"
|
||||
volumeMounts:
|
||||
- mountPath: "/dev/ttyAMA0"
|
||||
name: serial
|
||||
- mountPath: "/etc/robocar"
|
||||
name: robocar
|
||||
securityContext:
|
||||
privileged: true
|
||||
runAsUser: 1234
|
||||
runAsGroup: 20 # Set 20/dialout group to access to serial device
|
||||
envFrom:
|
||||
- configMapRef:
|
||||
name: robocar-throttle-pwm
|
||||
- configMapRef:
|
||||
name: robocar-steering-pwm
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-arduino
|
||||
- name: MQTT_TOPIC_THROTTLE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_THROTTLE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_STEERING
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_STEERING
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_DRIVE_MODE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_DRIVE_MODE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_SWITCH_RECORD
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_SWITCH_RECORD
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_THROTTLE_FEEDBACK
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar
|
||||
key: MQTT_TOPIC_THROTTLE_FEEDBACK
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: serial
|
||||
hostPath:
|
||||
path: /dev/ttyAMA0
|
||||
type: CharDevice
|
||||
- name: robocar
|
||||
configMap:
|
||||
name: robocar-objects
|
||||
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: led
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: led
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: led
|
||||
spec:
|
||||
containers:
|
||||
- name: led
|
||||
image: docker.io/cyrilix/robocar-led
|
||||
- name: objects-detection
|
||||
image: docker.io/cyrilix/robocar-objects-detection
|
||||
args:
|
||||
- "-mqtt-retain=false"
|
||||
- "-log=info"
|
||||
volumeMounts:
|
||||
- name: gpiomem
|
||||
mountPath: "/dev/gpiomem"
|
||||
- name: gpiochip0
|
||||
mountPath: "/dev/gpiochip0"
|
||||
- name: gpiochip1
|
||||
mountPath: "/dev/gpiochip1"
|
||||
securityContext:
|
||||
privileged: true
|
||||
runAsUser: 1234
|
||||
runAsGroup: 997 # Set 997/gpio group to access to serial device
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-led
|
||||
- name: MQTT_TOPIC_DRIVE_MODE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_DRIVE_MODE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_RECORD
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_SWITCH_RECORD
|
||||
name: robocar
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: gpiomem
|
||||
hostPath:
|
||||
path: /dev/gpiomem
|
||||
type: CharDevice
|
||||
- name: gpiochip0
|
||||
hostPath:
|
||||
path: /dev/gpiochip0
|
||||
type: CharDevice
|
||||
- name: gpiochip1
|
||||
hostPath:
|
||||
path: /dev/gpiochip1
|
||||
type: CharDevice
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: tflite-steering
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: tflite-steering
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: tflite-steering
|
||||
spec:
|
||||
containers:
|
||||
- name: tflite-steering
|
||||
image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
args:
|
||||
- "--model=/model/$(MODEL_STEERING)"
|
||||
- "--edge-verbosity=0"
|
||||
- "--image-width=$(IMAGE_WIDTH)"
|
||||
- "--image-height=$(IMAGE_HEIGHT)"
|
||||
- "--object-size-threshold=0.50"
|
||||
- "--enable-big-objects-remove=true"
|
||||
- "--enable-group-objects=false" # to debug/test
|
||||
- "--enable-bottom-filter=false" # don't work
|
||||
- "--enable-nearest-filter=true"
|
||||
- "--object-bottom-limit=0.90"
|
||||
- "--log=info"
|
||||
securityContext:
|
||||
runAsUser: 0
|
||||
runAsGroup: 0
|
||||
privileged: true
|
||||
volumeMounts:
|
||||
- name: models
|
||||
mountPath: /model
|
||||
- name: bus-usb
|
||||
mountPath: /dev/bus/usb
|
||||
- name: sys
|
||||
mountPath: /sys
|
||||
runAsUser: 1234
|
||||
runAsGroup: 1234
|
||||
resources:
|
||||
limits:
|
||||
memory: 100Mi
|
||||
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
@ -246,54 +56,36 @@ spec:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-tflite-steering
|
||||
- name: MQTT_TOPIC_CAMERA
|
||||
value: rc-objects-detection
|
||||
- name: MQTT_TOPIC_OBJECTS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_CAMERA_OAK_COLOR
|
||||
key: MQTT_TOPIC_OBJECTS
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_STEERING
|
||||
- name: MQTT_TOPIC_OBJECTS_CLEAN
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_TF_STEERING
|
||||
key: MQTT_TOPIC_OBJECTS_CLEAN
|
||||
name: robocar
|
||||
- name: MODEL_STEERING
|
||||
- name: MQTT_TOPIC_DISPARITY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MODEL_STEERING
|
||||
name: robocar-models
|
||||
- name: MODEL_IMAGE_WIDTH
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MODEL_IMAGE_WIDTH
|
||||
name: robocar-models
|
||||
- name: MODEL_IMAGE_HEIGHT
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MODEL_IMAGE_HEIGHT
|
||||
name: robocar-models
|
||||
- name: HORIZON
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: HORIZON
|
||||
name: robocar-models
|
||||
key: MQTT_TOPIC_CAMERA_DISPARITY
|
||||
name: robocar
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: LD_LIBRARY_PATH
|
||||
value: "/usr/local/lib/:/usr/lib"
|
||||
- name: IMAGE_WIDTH
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: CAMERA_WIDTH
|
||||
name: robocar-camera
|
||||
- name: IMAGE_HEIGHT
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: CAMERA_HEIGHT
|
||||
name: robocar-camera
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: models
|
||||
hostPath:
|
||||
path: /home/pi/models/steering
|
||||
type: DirectoryOrCreate
|
||||
- name: bus-usb
|
||||
hostPath:
|
||||
path: /dev/bus/usb
|
||||
- name: sys
|
||||
hostPath:
|
||||
path: /sys
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
@ -319,10 +111,8 @@ spec:
|
||||
image: docker.io/cyrilix/robocar-steering
|
||||
args:
|
||||
- "-mqtt-retain=false"
|
||||
- "--image-width=$(IMAGE_WIDTH)"
|
||||
- "--image-height=$(IMAGE_HEIGHT)"
|
||||
- "--enable-objects-correction=false"
|
||||
- "--enable-objects-correction-user=false"
|
||||
- "--enable-objects-correction=$(DETECTION_OBJECTS)"
|
||||
- "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
|
||||
- "--grid-map-config=/etc/robocar/grid.json"
|
||||
- "--objects-move-factors-config=/etc/robocar/omf.json"
|
||||
- "--delta-middle=0.1"
|
||||
@ -371,7 +161,7 @@ spec:
|
||||
- name: MQTT_TOPIC_OBJECTS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_OBJECTS
|
||||
key: MQTT_TOPIC_OBJECTS_CLEAN
|
||||
name: robocar
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
@ -387,6 +177,11 @@ spec:
|
||||
name: robocar-camera
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
- name: DETECTION_OBJECTS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: detection_objects
|
||||
name: robocar-profiles
|
||||
volumeMounts:
|
||||
- mountPath: /etc/robocar
|
||||
name: robocar-configs
|
||||
@ -421,6 +216,9 @@ spec:
|
||||
- "--mqtt-retain=false"
|
||||
- "--enable-brake-feature=true"
|
||||
- "--brake-configuration=/etc/robocar/brake.json"
|
||||
- "--enable-custom-steering-processor=true"
|
||||
- "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
|
||||
- "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
|
||||
- "--log=info"
|
||||
securityContext:
|
||||
runAsUser: 1234
|
||||
@ -468,6 +266,16 @@ spec:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_STEERING
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_SPEED_ZONE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_SPEED_ZONE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_MAX_THROTTLE_CTRL
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar
|
||||
key: MQTT_TOPIC_MAX_THROTTLE_CTRL
|
||||
- name: THROTTLE_MIN
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
@ -478,6 +286,16 @@ spec:
|
||||
configMapKeyRef:
|
||||
key: THROTTLE_MAX
|
||||
name: robocar-throttle
|
||||
- name: THROTTLE_ACCELERATOR_FACTOR
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
name: robocar-throttle
|
||||
key: THROTTLE_ACCELERATOR_FACTOR
|
||||
- name: THROTTLE_STEERING_CONFIG
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: throttle_from_steering
|
||||
name: robocar-profiles
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
@ -617,6 +435,16 @@ spec:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_SWITCH_RECORD
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_AUTOPILOT_STEERING
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_TF_STEERING
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_DRIVE_MODE
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_RC_DRIVE_MODE
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_RECORDS
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
@ -651,10 +479,25 @@ spec:
|
||||
image: docker.io/cyrilix/robocar-road
|
||||
args:
|
||||
- "-mqtt-retain=false"
|
||||
- "-image-width=$(IMAGE_WIDTH)"
|
||||
- "-image-height=$(IMAGE_HEIGHT)"
|
||||
- "-white-threshold-low=20"
|
||||
- "-white-threshold-high=255"
|
||||
- "-canny-threshold-low=100"
|
||||
- "-canny-threshold-high=250"
|
||||
- "-hough-lines-rho=2" # distance resolution in pixels of the Hough grid")
|
||||
#- "-hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
|
||||
- "-hough-lines-threshold=15" # minimum number of votes (intersections in Hough grid cell)
|
||||
- "-hough-lines-min-line-length=10" # minimum number of pixels making up a line
|
||||
- "-hough-lines-max-lines-gap=20" # maximum gap in pixels between connectable line segments
|
||||
- "--log=info"
|
||||
securityContext:
|
||||
runAsUser: 1234
|
||||
runAsGroup: 1234
|
||||
resources:
|
||||
limits:
|
||||
memory: 100Mi
|
||||
cpu: 500m
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
@ -685,5 +528,15 @@ spec:
|
||||
name: robocar
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: IMAGE_WIDTH
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: CAMERA_WIDTH
|
||||
name: robocar-camera
|
||||
- name: IMAGE_HEIGHT
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: CAMERA_HEIGHT
|
||||
name: robocar-camera
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
|
@ -9,26 +9,21 @@ resources:
|
||||
- configmap.yaml
|
||||
|
||||
images:
|
||||
- name: docker.io/cyrilix/robocar-arduino
|
||||
newTag: v0.9.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-led
|
||||
newTag: v0.5.1
|
||||
|
||||
- name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
newTag: v0.5.3
|
||||
|
||||
- name: docker.io/cyrilix/robocar-throttle
|
||||
newTag: v0.6.0
|
||||
newTag: v0.9.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-record
|
||||
newTag: v0.5.1
|
||||
|
||||
- name: docker.io/cyrilix/robocar-recorder-store
|
||||
newTag: v0.2.1
|
||||
|
||||
- name: docker.io/cyrilix/robocar-steering
|
||||
newTag: v0.6.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-recorder-store
|
||||
newTag: v0.3.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-steering
|
||||
newTag: v0.8.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-road
|
||||
newTag: v0.3.0
|
||||
|
||||
- name: docker.io/cyrilix/robocar-objects-detection
|
||||
newTag: v0.2.0
|
||||
|
10
ansible/roles/microservices/files/robocar/kustomization.yaml
Normal file
10
ansible/roles/microservices/files/robocar/kustomization.yaml
Normal file
@ -0,0 +1,10 @@
|
||||
apiVersion: kustomize.config.k8s.io/v1beta1
|
||||
kind: Kustomization
|
||||
|
||||
resources:
|
||||
- registry
|
||||
- registry/secrets.yaml
|
||||
- reloader
|
||||
- nats
|
||||
- car
|
||||
- common/secrets.yaml
|
@ -0,0 +1,8 @@
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: ConfigMap
|
||||
metadata:
|
||||
name: robocar-camera-replay
|
||||
data:
|
||||
|
||||
REPLAY_FRAME_DIR: "/records/clean3/records/2023-05-13T10-14_33/cam"
|
173
ansible/roles/microservices/files/robocar/local/deployments.yaml
Normal file
173
ansible/roles/microservices/files/robocar/local/deployments.yaml
Normal file
@ -0,0 +1,173 @@
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: camera-replay
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: camera-replay
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: camera-replay
|
||||
spec:
|
||||
containers:
|
||||
- name: camera-replay
|
||||
image: docker.io/cyrilix/robocar-camera-replay
|
||||
args:
|
||||
- "-mqtt-pub-frequency=$(MQTT_CAMERA_PUB_FREQUENCY)"
|
||||
- "-frame-dir=$(REPLAY_FRAME_DIR)"
|
||||
- "-log=info"
|
||||
securityContext:
|
||||
runAsUser: 1000
|
||||
runAsGroup: 1000
|
||||
privileged: false
|
||||
volumeMounts:
|
||||
- name: camera-records
|
||||
mountPath: /records
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-camera-replay
|
||||
- name: MQTT_TOPIC
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_CAMERA
|
||||
name: robocar
|
||||
- name: REPLAY_FRAME_DIR
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: REPLAY_FRAME_DIR
|
||||
name: robocar-camera-replay
|
||||
- name: MQTT_CAMERA_PUB_FREQUENCY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_CAMERA_PUB_FREQUENCY
|
||||
name: robocar-camera
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: camera-records
|
||||
hostPath:
|
||||
path: "/home/cyrille/robocar-clean/"
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: tflite-steering
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
component: tflite-steering
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
component: tflite-steering
|
||||
spec:
|
||||
containers:
|
||||
- name: tflite-steering
|
||||
image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
args:
|
||||
#- "--model=/model/$(MODEL_STEERING)"
|
||||
- "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
|
||||
- "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
|
||||
- "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
|
||||
- "--edge-verbosity=0"
|
||||
- "--log=info"
|
||||
securityContext:
|
||||
runAsUser: 0
|
||||
runAsGroup: 0
|
||||
privileged: true
|
||||
volumeMounts:
|
||||
- name: models
|
||||
mountPath: /model
|
||||
- name: bus-usb
|
||||
mountPath: /dev/bus/usb
|
||||
- name: sys
|
||||
mountPath: /sys
|
||||
env:
|
||||
- name: MQTT_BROKER
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_BROKER
|
||||
name: robocar
|
||||
- name: MQTT_USERNAME
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_USERNAME
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_PASSWORD
|
||||
valueFrom:
|
||||
secretKeyRef:
|
||||
key: MQTT_PASSWORD
|
||||
name: mqtt-credentials
|
||||
- name: MQTT_CLIENT_ID
|
||||
value: rc-tflite-steering
|
||||
- name: MQTT_TOPIC_CAMERA
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_CAMERA_OAK_COLOR
|
||||
name: robocar
|
||||
- name: MQTT_TOPIC_STEERING
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: MQTT_TOPIC_TF_STEERING
|
||||
name: robocar
|
||||
- name: OCI_IMAGE_MODEL_REGISTRY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OCI_IMAGE_MODEL_REGISTRY
|
||||
name: robocar-models
|
||||
- name: OCI_IMAGE_MODEL_REPOSITORY
|
||||
valueFrom:
|
||||
configMapKeyRef:
|
||||
key: OCI_IMAGE_MODEL_REPOSITORY
|
||||
name: robocar-models
|
||||
- name: OCI_IMAGE_MODEL_TAG
|
||||
value: "v20230603.1157-tflite"
|
||||
- name: MQTT_QOS
|
||||
value: "0"
|
||||
- name: LD_LIBRARY_PATH
|
||||
value: "/usr/local/lib/:/usr/lib"
|
||||
- name: TZ
|
||||
value: "Europe/Paris"
|
||||
volumes:
|
||||
- name: models
|
||||
hostPath:
|
||||
path: /home/pi/models/steering
|
||||
type: DirectoryOrCreate
|
||||
- name: bus-usb
|
||||
hostPath:
|
||||
path: /dev/bus/usb
|
||||
- name: sys
|
||||
hostPath:
|
||||
path: /sys
|
@ -0,0 +1,18 @@
|
||||
---
|
||||
apiVersion: kustomize.config.k8s.io/v1beta1
|
||||
kind: Kustomization
|
||||
|
||||
namespace: robocar
|
||||
|
||||
resources:
|
||||
- ../common
|
||||
- deployments.yaml
|
||||
- configmap.yaml
|
||||
|
||||
images:
|
||||
- name: docker.io/cyrilix/robocar-camera-replay
|
||||
newTag: v0.0.1-2-ga422aed
|
||||
|
||||
- name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
|
||||
#newTag: v0.6.1
|
||||
newTag: v0.6.1-1-g5d5858a
|
@ -0,0 +1,42 @@
|
||||
apiVersion: v1
|
||||
kind: ConfigMap
|
||||
metadata:
|
||||
name: zot-config
|
||||
data:
|
||||
config.json: |
|
||||
{
|
||||
"storage": {
|
||||
"rootDirectory": "/var/lib/registry"
|
||||
},
|
||||
"http": {
|
||||
"address": "0.0.0.0",
|
||||
"port": "5000"
|
||||
},
|
||||
"log": {
|
||||
"level": "debug"
|
||||
},
|
||||
"extensions": {
|
||||
"sync": {
|
||||
"credentialsFile": "/etc/zot/credentials.json",
|
||||
"registries": [
|
||||
{
|
||||
"urls": [
|
||||
"https://ghcr.io"
|
||||
],
|
||||
"onDemand": true,
|
||||
"pollInterval": "6h",
|
||||
"tlsVerify": false,
|
||||
"maxRetries": 3,
|
||||
"retryDelay": "5m",
|
||||
"onlySigned": false,
|
||||
"content": [
|
||||
{
|
||||
"prefix": "/cyrilix/model-steering",
|
||||
"destination": "/robocars/model-steering"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
@ -0,0 +1,61 @@
|
||||
---
|
||||
apiVersion: apps/v1
|
||||
kind: Deployment
|
||||
metadata:
|
||||
name: registry
|
||||
annotations:
|
||||
reloader.stakater.com/auto: "true"
|
||||
spec:
|
||||
revisionHistoryLimit: 0
|
||||
replicas: 1
|
||||
strategy:
|
||||
type: Recreate
|
||||
selector:
|
||||
matchLabels:
|
||||
app: registry
|
||||
template:
|
||||
metadata:
|
||||
labels:
|
||||
app: registry
|
||||
spec:
|
||||
containers:
|
||||
- name: registry
|
||||
image: ghcr.io/project-zot/zot-linux-arm64
|
||||
env:
|
||||
- name: TZ
|
||||
value: 'Europe/Paris'
|
||||
- name: REGISTRY_HTTP_ADDR
|
||||
value: 0.0.0.0:5000
|
||||
ports:
|
||||
- containerPort: 5000
|
||||
name: http-registry
|
||||
volumeMounts:
|
||||
- mountPath: /var/lib/registry
|
||||
name: registry
|
||||
- name: config
|
||||
mountPath: /etc/zot/config.json
|
||||
subPath: config.json
|
||||
- name: credentials
|
||||
mountPath: /etc/zot/credentials.json
|
||||
subPath: credentials.json
|
||||
securityContext:
|
||||
runAsUser: 1000
|
||||
runAsGroup: 1000
|
||||
fsGroup: 1000
|
||||
fsGroupChangePolicy: OnRootMismatch
|
||||
volumes:
|
||||
- name: registry
|
||||
hostPath:
|
||||
path: /home/pi/registry
|
||||
- name: config
|
||||
configMap:
|
||||
name: zot-config
|
||||
items:
|
||||
- key: config.json
|
||||
path: config.json
|
||||
- name: credentials
|
||||
secret:
|
||||
secretName: registries-credentials
|
||||
items:
|
||||
- key: credentials.json
|
||||
path: credentials.json
|
@ -0,0 +1,15 @@
|
||||
apiVersion: kustomize.config.k8s.io/v1beta1
|
||||
kind: Kustomization
|
||||
|
||||
namespace: registry
|
||||
|
||||
images:
|
||||
- name: ghcr.io/project-zot/zot-linux-arm64
|
||||
newTag: v1.4.3
|
||||
|
||||
resources:
|
||||
- namespace.yaml
|
||||
- configmaps.yaml
|
||||
- serviceaccount.yaml
|
||||
- services.yaml
|
||||
- deployements.yaml
|
@ -0,0 +1,4 @@
|
||||
apiVersion: v1
|
||||
kind: Namespace
|
||||
metadata:
|
||||
name: registry
|
@ -0,0 +1,13 @@
|
||||
apiVersion: v1
|
||||
kind: Secret
|
||||
metadata:
|
||||
name: registries-credentials
|
||||
namespace: registry
|
||||
|
||||
stringData:
|
||||
credentials.json: |
|
||||
{
|
||||
"ghcr.io": {
|
||||
"username": "cyrilix",
|
||||
"password": "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"
|
||||
}
|
@ -0,0 +1,5 @@
|
||||
apiVersion: v1
|
||||
kind: ServiceAccount
|
||||
metadata:
|
||||
name: registry
|
||||
automountServiceAccountToken: false
|
@ -0,0 +1,27 @@
|
||||
apiVersion: v1
|
||||
kind: Service
|
||||
metadata:
|
||||
name: registry-ext
|
||||
spec:
|
||||
type: NodePort
|
||||
ports:
|
||||
- port: 5000
|
||||
name: http-registry
|
||||
targetPort: http-registry
|
||||
nodePort: 32000
|
||||
selector:
|
||||
app: registry
|
||||
|
||||
---
|
||||
apiVersion: v1
|
||||
kind: Service
|
||||
metadata:
|
||||
name: registry
|
||||
spec:
|
||||
type: ClusterIP
|
||||
ports:
|
||||
- port: 5000
|
||||
name: http-registry
|
||||
targetPort: http-registry
|
||||
selector:
|
||||
app: registry
|
@ -5,7 +5,7 @@ kind: Kustomization
|
||||
namespace: robocar
|
||||
|
||||
resources:
|
||||
- ../common
|
||||
- ../common-car
|
||||
- deployments.yaml
|
||||
- configmap.yaml
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user